The Builder Robot is a complete mobile robotics platform and includes an arm with a gripper and an active vision system. These instructions describes the steps to but together the robot from 3D printed files. Instructions are also included on how to assemble the electronic systems of the robot. The intention is that it should be possible to build the robot by following the steps.

The main parts of the builder robot are the sensory systems, locomotor systems, arm with gripper and the on-board computer running the Ikaros system (Balkenius, et al. 2010).

Sensory Systems Each camera is mounted on a servo that allows it to move up or down. The robot can also measure the voltage and the current it uses. This can be used to estimate the power used by the robot at any time. In addition, all servos provides information about their current position, their temperature and other data.

Locomotion System The locomotion system uses a holonomic drive system with four Mecanum wheels mounted on servos. This allows the robot to move in any direction on the ground.

Arm and Gripper The arm has five degrees of freedom and a gripper that allows it to pick up and manipulate objects. The arm and gripper is controlled using seven servos. Each servo system provides feedback about the current position of each joint.

On Board Computers The Builder Robot has a Mac Mini on board that is modified to run off battery. There is an Arduino Mega that is used to control the LED strip around the body of the robot.

Ikaros Control System The Ikaros framework (www.ikaros-project.org) provides the robot with features such as real-time sensory processing and motor control, threading, web based monitor interface, and a selection of over 200 modules for various processing and control functions (Balkenius, et al. 2010). The internal state of the robot (sensor values, navigation, etc.) can be monitored remotely from a web browser over WiFi.

Building the robot involves main steps:

Download the STL-files for the robots from Thingiverse: Thingiverse Builder Robot

Print all the parts with support. We used a Makerbot Replicator 2 with default settings for PLA for the robot shown in the figures below, except for parts N that were printed in NinjaFlex on a Replicator Dual.

Remove the support material.

Install the Ikaros system on the Mac Mini as described here: http://www.ikaros-project.org/installing/osx/

More info: Lund University Cognitive Science Robotics Group


Balkenius, C., Morén, J., Johansson, B and Johnsson, M. (2010). Ikaros: Building Cognitive Models for Robots. Advanced Engineering Informatics, 24 (1), 40-48

Step 1: Robot Parts

<p>Great build, thanks!</p>
<p>is this project like the assistant of iron man? the mechanical arm?</p>
Is there a comprehensive parts list anywhere?
<p>Take a look at the pdf file at http://www.lucs.lu.se/builder-robot. It has all the steps and at the very end a list of all the parts.</p>
<p>The table with the total quantities for each item is not accurate, it misses some items as the smps2dynamixel, right angle usb cables, dynamixel cables and some other small stuff.</p>
<p>+1 for MattTuck's comment. A full BOM/MTO would be handy. Thanks in advance.</p>
What's was the total cost of the robot?
<p>The parts list table is not complete,</p><p>It's missing some dynamixel cables, USB2rs485, usb cable extensios etc (it's there on the notes but not accounted for total)</p><p>The cost ends up being around &pound;3000 + VAT</p>
<p>An estimation would be a total of 4500USD. The major costs are the 13 Dynamixel MX-28 servos (2800USD), Mac Mini (500USD) and the Battery packs (480USD).</p>
<p>So the cost in euros is about 4000&euro;?</p>
<p>Modify the Mac Mini to operate on 12 V? There has got ro be a better solution, with less risk of doing a bad connection and frying the logic board: </p><p>1. Carnetix DC-DC converter from the carputer era. It receives 12 V on one end and produces 17 V to power a computer. Any other step-up converter for that purpose?</p><p>2. Not use a Mac mini and load Linux on a 12 V logic board</p><p>3. Use a Raspberry Pi if your software plus OS can live with the limited RAM?</p>
Or use the underused arduino mega in tandem with any other not $500 computer. Or use the arduino mega as a wireless bridge and have the Mac elsewhere to begin with, reduce weight and power consumption.
<p>+1 also on a detailed BOM. </p><p>What battey packs are you using?</p>
<p>We are using https://www.elfa.se/en/nimh-battery-pack-12-1500-mah-gp-batteries-150aam10y1h/p/16932768</p>
<p>Here is the builder robot in translucent blue while lifting a building block.</p>

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